238 results about "Discrete points" patented technology

The invention discloses a global reference line generation method for an automatic driving vehicle and a related device, and relates to the technical field of automatic driving navigation, and the method comprises the steps: generating a collision-free original path of the vehicle based on an improved A * algorithm according to a starting point position and a terminal point position of the vehicle in a grid map; removing redundant points in the collision-free original path of the vehicle to obtain an original reference path; numerical smooth optimization is carried out on discrete points of the original reference path, and a cubic spline interpolation method is adopted to generate a basic reference line meeting the geometric continuity of the vehicle; establishing a Frenet coordinate system based on the basic reference line, and carrying out transverse and longitudinal motion primitive sampling to obtain a vehicle kinematics constraint and a boundary constraint; according to the constraint, establishing a quadratic programming multi-objective optimization function; and solving the quadratic programming multi-objective optimization function to obtain a global reference line. According to the invention, the robustness and security of reference line generation in a complex scene can be improved.

The invention discloses a welding seam self-adaption B spline curve fitting method for a 3D dense out-of-order point set, and aims at solving the problem of complex curved surface welding seam track generation in robot welding and breaking through the limitation of the prior art through a three-stage self-adaption fitting mechanism. The method comprises the following steps: firstly, self-adaptive screening and projection sorting are carried out by utilizing a straight line fitting error, so that the disordering problem of discrete points of a quadratic curved surface intersection line is effectively solved, and the strong dependence of a traditional method on a CAD model is overcome; secondly, in combination with a region growing method guided by an end tangent vector, robust conversion from an out-of-order point set to an ordered control point is realized through dynamic neighborhood search and projection value sorting, and path continuity of an open / closed curve is guaranteed; and finally, mean sampling quadratic fitting is adopted, control point distribution is optimized while noise is restrained, and a smooth B-spline track meeting the movement requirement of the welding gun is generated. According to the method, direct fitting of the 3D dense out-of-order point set under the model-free condition is achieved for the first time, and the generation efficiency and adaptability of the irregular welding seam track are remarkably improved.

The invention relates to the technical field of hydrodynamic analysis of ship and ocean engineering, in particular to a method, a device and equipment for predicting an additional mass coefficient and a viscous damping coefficient of multi-degree-of-freedom movement of a floating body, a storage medium and a computer program product. The method comprises the following steps: performing orthogonal two-dimensional slicing on each plane to generate flow field sampling points based on a floating body three-dimensional geometric model, draft and motion parameters; sampling point coordinates, initial flow field data, geometric contour discrete points, boundary conditions and motion parameters are coded into high-dimensional feature vectors through a learnable matrix, and input matrixes of all planes are constructed; predicting two-dimensional flow field data by adopting a Transform module, fusing multi-plane data through a graph attention network to generate a redundant three-dimensional flow field, and interpolating and complementing object plane missing points; the water pressure and the viscous shear force are divided along the surface area of the floating body, the inertia term and the damping term are decomposed in combination with the single-mode motion equation, the target additional mass coefficient and the target viscous damping coefficient are determined, and the accuracy of floating body hydrodynamic calculation is improved.

The invention provides a crack identification method and system based on multi-modal data fusion, electronic equipment and a storage medium, and the method comprises the steps: firstly obtaining multi-modal data of a to-be-detected structure surface, specifically including an image sequence obtained by an acquisition module, full-field stress time sequence data and preset key part discrete point stress time sequence data; performing time synchronization calibration on the multi-modal data, mapping a stress field corresponding to full-field stress time sequence data to a pixel coordinate system of an image sequence through camera calibration parameters, and associating discrete point stress time sequence data to the pixel coordinate system to form a comprehensive data set of unified space coordinates; and finally, inputting the comprehensive data set into a trained multi-modal crack recognition model, and performing model recognition to obtain crack parameters and stress analysis results, thereby realizing crack recognition driven by multi-modal data fusion. Multi-modal data collaborative input overcomes the problems of misinformation, missing report and information loss of a single data source, and improves the accuracy and reliability of crack recognition.

The invention relates to a self-adaptive abrasive jet strengthening method and system for a complex curved surface. The method comprises the steps that a three-dimensional point cloud data set of a workpiece is acquired; analyzing the three-dimensional point cloud data set to obtain a first principal component vector; a section plane is set, an intersection line of the section plane and the three-dimensional point cloud data set is calculated based on the first principal component vector, and the intersection line is an initial path; a normal vector of each discrete point on the initial path is calculated, calculation is carried out based on the normal vectors and the custom viewpoints, newest unit outer normal vectors of the discrete points are obtained, and the newest unit outer normal vectors are all perpendicular to the complex curved surface on the workpiece; and calculating corresponding actual position coordinates of the nozzle relative to each discrete point based on the unit outer normal vectors of the discrete points, and forming a continuous strengthening path based on the actual position coordinates. According to the method and the device, the deviation between the CAD model and the real object can be eliminated, the strengthening path planning of the nozzle has the curved surface self-adaptive capability, and the jet flow energy distribution is uniform.

The invention discloses a model discretization method and device, electronic equipment and a computer readable storage medium. Comprising the steps that a to-be-discretized CAD model is obtained, the to-be-discretized CAD model is analyzed, geometric features of the to-be-discretized CAD model are obtained, and the geometric features at least comprise faces and edges; for any adjacent edge A and edge B, discretizing the edge A and the edge B according to the relationship between the edge A and the edge B, and discretizing the edge A and the edge B respectively to obtain a discrete point column of the edge A and a discrete point column of the edge B; and for any adjacent surface C and surface D, discretizing the surface C and the surface D according to the relationship between the surface C and the surface D, and discretizing the surface C and the surface D respectively to obtain a discrete grid of the surface C and a discrete grid of the surface D. According to the method, when the model is converted into the net-shaped structure, it is guaranteed that selfing of the grids does not occur.

The invention discloses an intelligent flight path planning method for an unmanned aerial vehicle in a multi-type scene, and the method comprises the following steps: 1, building task input and task type recognition: setting the unmanned aerial vehicle to be in a fixed-height flight mode, and obtaining space information required by a task, including a take-off point position, a task point coordinate set and a task region boundary, the system identifies the task type through analysis; if the input is a discrete point set, the task is judged as a point task; if the structure is a broken line structure, judging the task as a line task; if the boundary is a task area boundary, the task is judged to be a surface task, and if the boundary width L is small, the task is still judged to be a line task. The method has the advantages that a fitness function is improved, the shortest total time of multiple unmanned aerial vehicle tasks is used as an optimization target, and task real-time weight parameters are introduced, so that a planning result meets task timeliness and energy consumption optimization at the same time; the coverage of planar tasks is realized in combination with a cattle farming algorithm, dynamic planning of electric quantity and a battery swap station is performed in combination with a greedy algorithm, and path optimization and improvement of energy management are realized.

This invention discloses a method for planning U-turns of automated vehicles in narrow passages in mines, comprising: S1, determining the starting area for U-turn planning; S2, performing tunnel area planning to generate interval navigation paths and local paths; S3, performing chamber area planning: the automated vehicle travels to the starting area for U-turn planning based on the tunnel area planning results, establishes a discrete map of the chamber planning area and sets a step size Sn, expands nodes until the target point is reached, and generates a collision-free path; S4, post-processing the collision-free path generated in step S3: a nonlinear optimization planning problem is modeled using a constructed objective function for the discrete points of the collision-free path, and a corresponding solver is used to obtain the final smooth path solution. This method can quickly and effectively complete U-turn trajectory planning in narrow areas using the chamber space, achieving relatively coherent U-turn actions, ensuring the real-time performance of the planning algorithm, and improving vehicle traffic efficiency.

The invention relates to the technical field of section line fairing, in particular to a curvature fairing method for the front edge and the rear edge of a blade modeling section line, and the method comprises the following steps: 1, importing a three-dimensional model of an impeller, and obtaining the blade section line of the impeller; step 2, solving discrete points on the section line in an isoparametric manner, and converting Cartesian three-dimensional coordinates of the discrete points into two-dimensional cylindrical coordinates; 3, finding out an initial leading edge endpoint and an initial trailing edge endpoint of the section line by using a central axis algorithm; step 4, according to the curvature of the front edge endpoint and the curvature of the rear edge endpoint, determining a segmentation point of the front edge endpoint and a segmentation point of the rear edge endpoint respectively; 5, the curvature of the front edge and the curvature of the rear edge are smoothed, curve smoothing is carried out in a third-order derivative mode, position constraint and end point constraint are carried out on the basis of an original curve, and the curve can achieve the curve smoothing effect within the minimum range.

The present invention relates to the field of automatic control technology, and discloses a path planning method and device for synchronized machining of a robotic arm and a laser, including: obtaining a three-dimensional model of a workpiece, material and process parameters, and extracting an irregular surface to generate a discrete point set. Calculating the pose of the end of the robotic arm through inverse kinematics to obtain preliminary joint angles and a trajectory sequence. Combining parameter matching to optimize the laser parameters, generating a variation curve and synchronously mapping it to the joint angle sequence, and obtaining a synchronized joint angle sequence through spline interpolation fine-tuning. Fitting a smooth trajectory with a B-spline curve, and generating a motion trajectory control instruction in combination with the synchronized joint angles. The robotic arm and the laser move according to the instruction. When the environment changes, the trajectory compensation coefficient is dynamically adjusted, and online compensation is performed using an adaptive Kalman filtering algorithm to obtain a corrected control instruction. The present invention improves the adaptability of path planning by extracting the machining details of the irregular surface, aligning the working sequences of the robotic arm and the laser, and real-time sensing the machining environment, so as to perform efficient and precise machining.

The invention discloses a plane target contour reconstruction method and device suitable for geographic information data processing, which are used for recovering the contour shape of a target geographic element from a disordered discrete point set, and comprises the following steps: obtaining a plane discrete point set representing the target geographic element, the plane discrete point set being disordered coordinate data; the plane discrete point set is processed, the plane discrete point set is structured into a group of line segment sets representing local contour features of the plane discrete point set through iterative splitting and merging operation based on an elliptic model, and the splitting and merging operation is controlled by a linearity threshold value and a disconnected connectivity threshold value which are generated in a self-adaptive mode; processing the line segment set, and integrating the line segment set into closed polygon contour data representing the target geographic element by establishing a spatial index for end points of the line segment set and executing nearest neighbor connection; and outputting closed polygon contour data. According to the method and the device, the accuracy and the automation degree of contour reconstruction and the robustness of an algorithm are improved.

The invention discloses a three-dimensional S-shaped bent inner concave runner design method and system. The design method comprises the following steps that a runner inlet molded line and a runner outlet molded line of a supersonic speed stamping runner are obtained; n discrete points are extracted in the circumferential directions of the inlet molded line and the outlet molded line to form N groups of inlet and outlet discrete point pairs; the change rule of S-shaped curve parameters is set in the circumferential direction of the runner inlet molded line / runner outlet molded line, and N S curves are obtained; acquiring a coordinate set of N * M discrete points on the curve set by M parallel interception planes; enveloping to generate an S-shaped curved surface, calculating the area of the two-dimensional cross section graph, and obtaining a flow channel sectional area change rule in the flow direction and a slope change rule of a center curve of the S-shaped curved surface; and judging whether the design is reasonable. The method can be suitable for computer-aided design of flow channels transited from various patterns including irregular patterns to circles or ellipses, and can meet the design of flow channels with offset inlet and outlet positions.

The invention discloses a robot spline interpolation node selection method based on single-step energy loss. The method comprises the following steps: inputting a to-be-tracked trajectory of a robot end effector; discretizing the trajectory to be tracked to obtain ordered discrete points, and recording position information and curvature information corresponding to the discrete points; the method comprises the following steps: setting a starting end point of a to-be-tracked trajectory as a first interpolation node s0 and a last interpolation node sn, respectively adding an interpolation node s1 and an interpolation node sn-1 at discrete point positions which are delta away from the s0 and the sn, adjusting a step length in an interval of the s1 and the sn-1 to enable a single-step energy value to be equal to a set energy value, setting the position of the energy value as an interpolation node, and setting the position of the energy value as the interpolation node; and obtaining all interpolation nodes in the interval. According to the method, the positions and the number of the least nodes needed for tracking one track through spline interpolation can be rapidly determined, and the method is used for assisting generation of a motion planning method based on the hierarchical search tree and a robot teaching program.

The invention discloses a variable grid method grid automatic division method and device based on vector field guidance. The method comprises the following steps: extracting boundary feature points according to geometric features of an input model boundary so as to construct a feature polygon of a model, and dispersing the feature polygon into a triangular mesh model; constructing a vector field based on a Laplacian operator by using the triangular mesh model; starting from the geometric center of the model, setting an initial quadrilateral grid as an initial paving layer, paving the quadrilateral grid outwards layer by layer, and if the paving layer exceeds the boundary of the model, stopping paving; when each layer of quadrilateral grid deforms, uniform transition is achieved through a size transition template; and finally, generating a boundary quadrilateral mesh of the model by adopting a mapping method, mapping discrete points on the boundary of the feature polygon back to the boundary of the input model, and outputting a generated quadrilateral mesh model. According to the method, full-automatic generation of the quadrilateral mesh can be realized, and the method is particularly suitable for mesh generation in finite element simulation pretreatment.

The invention discloses a five-axis laser processing path planning method and device, equipment and a medium, and relates to the technical field of laser processing. A space filling line cluster is constructed, the filling line cluster and a processed surface are subjected to Boolean operation to obtain a preliminary continuous processing track, the processing track is discretized into track curve segments, and the track curve segments are divided into two groups; the tangent vectors of the two end points of the curve segment are calculated, the curvature of the corresponding curve segment is obtained according to the included angle of the tangent vectors of the two end points, the discrete density is dynamically constrained through the tangent vector included angle in the process, and path planning is carried out in the form of equal curvature discrete represented by kinematics characteristics; and based on the u-direction parameter value and the v-direction parameter value, generating a three-dimensional laser coordinate point position and a two-dimensional laser direction vector corresponding to the discrete points so as to obtain a five-axis laser processing path of each discrete point on the track curve segment, so that the three-axis coordinate and the two-axis direction vector can be synchronized into the five-axis laser processing path. Therefore, a high-precision laser processing path can be obtained to process the workpiece.

The invention discloses a motion state determination method, system and device based on human upper limb inverse kinematics and a medium, and relates to the field of robot kinematics control, and the method comprises the steps: obtaining an upper limb working space of a human upper limb; according to the upper limb working space, discrete sampling is carried out based on a Monte Carlo sampling method, and an initial discrete point set is determined; performing sampling density adjustment on the sensitive area, the boundary area and the singular area in the initial discrete point set to obtain a final discrete point set; determining a joint angle set corresponding to each discrete point, and constructing a joint angle database; retrieving a joint angle database based on a kd-tree method, and determining an initial joint angle; local optimization is carried out based on a gradient descent method, and a joint angle corresponding to each tail end position is determined; determining the motion state of the upper limbs of the human body; the joint angle corresponding to each tail end pose of the human upper limb can be quickly and accurately determined, and then the current motion state of the human upper limb is determined.

The invention discloses an automatic discretization method for a hydroelectric nonlinear characteristic curve. The method comprises the following steps: collecting n sample points of a hydroelectric original nonlinear characteristic curve, and setting the number of required discrete points to be m; virtually connecting the head and tail points of the original nonlinear characteristic curve to form a straight line, calculating the vertical distances between all sample points on the original nonlinear characteristic curve and the straight line, and calculating the maximum distance value D0 corresponding to the maximum distance point P0; if the maximum distance value D0 is larger than the distance threshold value, the maximum distance point P0 is reserved; respectively screening out the maximum distance points in the residual sample points, and comparing the maximum distance points with a distance threshold value; if the maximum distance value D0 is smaller than or equal to the distance threshold value, all middle points are removed, and only the starting point and the ending point are reserved; and repeating the steps, and removing the point with the minimum error every time until only m discrete points remain. According to the method, the discrete points with the given number can be rapidly and automatically extracted, and the extracted discrete points can accurately represent the original nonlinear characteristic curve.

The invention provides a to-be-drilled well track intelligent real-time adjustment method and system and electronic equipment. The method comprises the steps that spatial data of an original design and a real-drilled well track are obtained; based on actual drilling data, calculating the maximum dog leg degree of a drill bit towards a design trajectory and a prediction trajectory by using a steering tool build-up rate prediction model; determining an intersection point of the prediction trajectory and the design trajectory, and taking a nearest discrete point as an initial search point of a target point; on the basis of the current drill bit position and the initial search point, to-be-drilled tracks of various preset shapes are automatically generated; evaluating the realizability of each trajectory curve segment by using a dog leg degree prediction model, and screening out a feasible trajectory set; and constructing a comprehensive evaluation function, performing multi-objective optimization on the feasible trajectory, and finally selecting an optimal to-be-drilled trajectory. Through the artificial intelligence prediction and optimization algorithm, the whole course automation from track deviation identification to optimal adjustment scheme generation is realized, and the accuracy, reliability and efficiency of track control are obviously improved.

The invention relates to the technical field of computer aided design, and discloses a parallelized triangular mesh generation method for a tailored curved surface, which comprises the following steps: for each boundary curve in the tailored curved surface, selecting a corresponding discretization method based on a curve type to carry out parallel discretization, and obtaining a discrete point set corresponding to each boundary curve, the discrete points are mapped to a parameter domain space of the cutting curved surface, and a two-dimensional point set is obtained; on the basis of the two-dimensional point set, a closed polygonal ring is constructed on a parameter domain of the cutting curved surface to serve as a discrete boundary; for the free-form surface, based on a parameter domain range and a three-dimensional space geometric scale, dividing the free-form surface by using a dichotomy to obtain an initial subdivision unit; based on the position relation between each initial subdivision unit and the discrete boundary, classifying the initial subdivision units, selecting a corresponding division mode, and dividing the initial subdivision units into triangles in parallel; and all triangles are mapped to a three-dimensional space and integrated into a triangular mesh.

The embodiment of the invention discloses a metal product modeling method and system based on three-dimensional point cloud. The method comprises the steps that original discrete point cloud of a target metal product is acquired, and point cloud regularization processing is carried out; identifying a density mutation region and a normal vector jump region through global scanning, and carrying out region correlation analysis to generate a key structure feature boundary; dividing local point clouds and mining a structure dependency relationship to determine a structure association rule; constructing a structural section connection relation network and creating a topological structure; and aligning the topological structure with the corresponding discrete point cloud segments, inputting the aligned topological structure and the corresponding discrete point cloud segments into a graph neural network to execute reasoning analysis, and realizing structural segment association reconstruction based on a result to obtain a three-dimensional model. Thus, through cooperation of multi-link technical means, the geometrical morphology of the metal product is accurately reproduced, meanwhile, the internal correlation and topological logic of the structure are reserved, and the precision of the three-dimensional model and the structural expression integrity are improved.

The invention discloses an optimization method and system for compressed point cloud data, equipment and a medium. The method comprises the following steps: acquiring first data and second data; extracting local geometric features and global structural features from the first data; adapting a compression distortion type of the first data according to the coding parameter; based on the local geometric features, determining a deviation range of each discrete point in the first data and a point missing region in the first data; restoring the first data by compressing a restoration network corresponding to the distortion type based on the global structure feature, the deviation range and a point missing region in the first data to obtain second data; the first data and the second data are merged to obtain optimized data, distortion types under different compression strengths can be adapted through the coding parameters, and targeted restoration and optimization of the compressed point cloud data are realized in combination with local and global features, so that the geometric fidelity and visual quality of the compressed point cloud data are improved.

The invention relates to the technical field of bolt connection fatigue life prediction, in particular to a high-strength bolt connection fatigue life prediction method and system, and the method comprises the steps: obtaining a bolt entity morphology discrete point cloud, and generating a continuous geometric topology function through non-uniform rational B-spline interpolation reconstruction; discretizing the standard thread parameters to construct a standard finite element model, calculating a normal spatial position difference value based on a continuous geometric topology function, and packaging to generate a geometric defect mapping tensor; according to the converted node coordinates, constructing a real morphology finite element model; solving the nonlinear equilibrium equation by utilizing a penalty function method, and generating a contact stiffness characteristic matrix; calculating an axial load distribution sequence and executing gradient convolution operation, and extracting a local field variable peak value; and calculating an accumulated damage index in combination with a damage evolution equation and outputting a predicted life. By mapping the entity discrete point cloud into a finite element geometric defect tensor and reconstructing a real morphology model, the accurate prediction of the fatigue life of the bolt considering the micromachining deviation influence is realized.

The invention discloses a workpiece contour projection extraction method and system based on ordered point cloud, and is applied to the technical field of three-dimensional precision measurement. The method comprises the following steps of obtaining high-precision ordered point cloud data of a target workpiece and performing preprocessing; geometric analysis is carried out through the three-dimensional visual point cloud model, and section parameters are defined; performing rapid gridding processing on the ordered point cloud data through an efficient triangulation algorithm; calculating to obtain an intersection discrete point set of the cross section and the triangular mesh; and establishing a section plane local coordinate system and implementing two-dimensional projection transformation to obtain the contour projection of the target workpiece. According to the method, high-precision, high-efficiency and automatic extraction of the section contour of the workpiece can be realized, the actual requirements of industrial field online detection and quality control are met, and the method can be applied to scenes such as part size detection, reverse engineering, quality control and contour analysis in industrial manufacturing.

The invention discloses an aircraft grid generation method and device based on conformal mapping and topological segmentation, equipment and a storage medium, and relates to the technical field of computational fluid mechanics, and the method comprises the steps: generating a surface unstructured grid according to an aircraft model, carrying out the conformal mapping to a parameter domain plane grid through Ricci flow, and calculating the compression ratio of the surface unstructured grid; if the compression ratio is smaller than a first threshold value, extracting a contour line corresponding to a second threshold value; positioning a triangular grid corresponding to the isoline discrete points in the parameter domain plane grid by using a spatial partitioning algorithm, inserting the discrete points into the grid according to the relationship between the vertex distance and the edge distance, forming a closed internal boundary through a one-dimensional boundary recovery operation, and determining a corresponding region; the area is inversely mapped back to the three-dimensional surface, the surface grid is updated, the mapping and judging steps are repeated until the compression ratio meets the requirement, and the parameter domain plane grid is set as a target aircraft grid, so that the efficiency of generating the aircraft grid is improved.

The invention belongs to the field of robot trajectory optimization, and particularly relates to a trajectory optimization method and system considering redundancy characteristics of a robot macro-micro force control grinding and polishing system. The method comprises the following steps: S1, generating an initial grinding and polishing track based on a CAD model, and providing a discrete point curvature estimation method to estimate the curvature of each path point; s2, on the basis of the curvature of the discrete points, a mixed optimization target of a curve energy item and a curvature change rate about curvature square is constructed, arc length and redundancy direction optimization constraints are considered, and an adjusted grinding and polishing track is generated through a nonlinear optimization method; s3, on the basis of the optimized initial points, an initial dominant point selection method based on an angle-chord height-chord length joint criterion is adopted, and the trajectory precision is kept while the number of dominant points is reduced; and S4, on the basis of the optimized curved surface dominant points, an improved least square iterative approximation method is provided to generate a parameterized B-spline grinding and polishing path generation method, and final grinding and polishing track generation is achieved.

The invention provides a shot blasting path generation method for an irregular profile double-curvature integral wallboard, which comprises the following steps of: firstly, extracting geometric information of the integral wallboard, and discretizing an appearance surface of the wallboard by utilizing a discretization algorithm to obtain a uniformly distributed and fully covered discrete point set; extracting the geometric information of the wallboard at the discrete points, solving the matrix thickness of the discrete points at the ribs, and storing the matrix thickness in an XML (Extensible Markup Language) data structure, so that the extracted geometric information can be conveniently used for shot blasting path planning and process parameter calculation; and finally, based on the discrete point two-dimensional array, performing shot blasting path planning through the extreme curvature value and the direction of the discrete point, and combining an iterative adjustment strategy to ensure that the generated path meets the requirements of equipment parameters and coverage rate, so that the adaptability to complex geometry and accurate range control of spacing are realized, and the path spacing meets the range requirement. Manual adjustment is reduced, and the path generation process is stable and reliable.

The invention discloses a three-dimensional five-axis laser cutting path generation method. The method comprises the steps that three-dimensional model data of a part is read and analyzed, a part coordinate system is set according to the actual machine tool direction, the part is applied to the part coordinate system, and coordinate system setting is completed; extracting outer surfaces and contours of the parts, enabling the contours to be in one-to-one correspondence with the outer surfaces where the contours are located, discretizing the contours by using a discretization algorithm of bow height and central angle limitation, and calculating normal directions at discrete points; generating a cutting path according to the configuration of the cutting head of the laser cutting machine and the normal direction of the discrete point; the cutting path is adjusted; and outputting the adjusted cutting path. The method disclosed by the embodiment of the invention is based on three-dimensional model programming instead of point cloud processing, and compared with the prior art, the cost is lower, the path generation efficiency is higher, and the precision is higher.

The invention discloses a motion trail smooth optimization method, device and equipment and a storage medium, and the method comprises the steps: collecting the distance data from a Z axis to a glass surface, and obtaining m groups of two-dimensional discrete point data through combining the lineation distance data of an X axis and the sampling density rho, inputting a plurality of feature vectors established by combining the two-dimensional discrete point data (Xpos, Zpos), the sampling density rho, the lineation speed V, the track included angle theta and the normalized parameter k into a regression model to obtain a recommended parameter beta, and calculating a tension control parameter alpha according to the recommended parameter beta; and finally, calculating a tangential vector of each two-dimensional discrete point and establishing a plurality of sections of Hermite spline curves to obtain a trajectory optimization curve so as to finish smooth optimization of the slave axis motion curve, and optimizing each section of slave axis motion trajectory according to a trajectory included angle theta. The following oscillation of the slave shaft caused by a high-frequency instruction during high-speed operation of the main shaft can be inhibited, and the coincidence degree of the actual track and the theoretical track of the slave shaft is effectively improved.

This invention belongs to the technical field of multi-scale particle transport simulation, and discloses a kinetic solution method and system for multi-scale particle transport simulation. The method includes: a particle kinetic model based on discrete velocity form; selecting discrete points in velocity space; calculating the distribution function along the direction of the discrete points in velocity space at the center of the grid according to a compact scheme; accumulating the contribution values ​​of the distribution function to macroscopic physical quantities; scanning the downstream grid sequentially based on the direction of the discrete points in velocity space; changing the discrete points in velocity space and repeating the operation until the contribution values ​​of the grid at all discrete points in velocity space are accumulated, and obtaining the final macroscopic physical quantities; outputting the calculation results of macroscopic physical quantities when the convergence condition is met. This invention discloses a kinetic solution method and system for multi-scale particle transport simulation that balances computational memory, accuracy, and efficiency, and is particularly suitable for multi-scale particle transport simulation with a large number of discrete points in velocity space and strong heterogeneity.

The invention belongs to the technical field of underwater sound channels and physical fields, and relates to a numerical mixing calculation method for a forward scattering sound field of an underwater regular-shape object. The method comprises the following steps: acquiring an initial projection contour of a three-dimensional geometric model of a regular shape object in a specified projection plane and an incident direction; discrete points of the initial projection contour are divided into upper boundary points and lower boundary points; performing interpolation completion on the upper boundary points and the lower boundary points, so that the upper boundary points and the lower boundary points are the same in number and share abscissas; discretizing the supplemented projection contour by using a trapezoidal plane element; calculating a forward scattering far field morphological function based on a discretization result; and calculating the forward scattering target intensity of the object. The method provided by the invention can cover the shape range of the scattering object suitable for the analysis method, does not need to calculate special functions such as Bessel and spherical harmonic and a complex series expression formed by combining the special functions, and obviously improves the calculation efficiency.